CN115749956B - Device and method for positioning vehicle in tunnel based on DSRC microwave short-range communication technology - Google Patents
Device and method for positioning vehicle in tunnel based on DSRC microwave short-range communication technology Download PDFInfo
- Publication number
- CN115749956B CN115749956B CN202211383770.XA CN202211383770A CN115749956B CN 115749956 B CN115749956 B CN 115749956B CN 202211383770 A CN202211383770 A CN 202211383770A CN 115749956 B CN115749956 B CN 115749956B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- tunnel
- acquisition
- data acquisition
- area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000004891 communication Methods 0.000 title claims abstract description 140
- 101001093748 Homo sapiens Phosphatidylinositol N-acetylglucosaminyltransferase subunit P Proteins 0.000 title claims abstract description 37
- 238000005516 engineering process Methods 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000012545 processing Methods 0.000 claims description 30
- 238000001514 detection method Methods 0.000 claims description 16
- 238000009434 installation Methods 0.000 claims description 14
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 230000003137 locomotive effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011150 reinforced concrete Substances 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Landscapes
- Traffic Control Systems (AREA)
Abstract
The invention discloses a vehicle positioning device and a vehicle positioning method in a tunnel based on a DSRC microwave short-range communication technology, wherein the device is provided with a tunnel communication acquisition point, an adjusting type acquisition mechanism, a self-driven adjusting shaft seat and a DSRC positioning module, and the adjusting type acquisition mechanism automatically adjusts angles and positions so that data acquisition areas on adjacent tunnel communication acquisition points can be simultaneously associated with the same vehicle. According to the invention, the adjustable acquisition mechanism is arranged at the tunnel communication acquisition point to capture the vehicle running image in the data acquisition area, and the angle and the position of the adjustable acquisition mechanism can be automatically adjusted, so that the data acquisition areas on the adjacent tunnel communication acquisition points can be simultaneously associated with the same vehicle, and the adjacent adjustable acquisition mechanism can continuously capture the vehicle image in the data acquisition area of the tunnel communication acquisition point, so that the vehicle can continuously acquire positioning information in the driving process in the tunnel, and the continuous and accurate positioning of the whole process in the tunnel of the vehicle is realized.
Description
Technical Field
The invention relates to a vehicle positioning technology in a tunnel, in particular to a vehicle positioning device and method in the tunnel based on a DSRC microwave short-range communication technology.
Background
The tunnel road can be offered on the highway generally, and the outer wall of tunnel comprises mountain rock wall or reinforced concrete, and signal communication is obstructed in the tunnel, and global navigation satellite system's positioning signal also can disappear gradually, is difficult to realize the accurate location of overall process to the vehicle in the tunnel, and the vehicle is in the location blind area in the tunnel, influences the safe of vehicle and goes.
The existing tunnel positioning technology generally needs to set vehicle positioning mark points at intervals in a tunnel, a vehicle passes through the tunnel and acquires the vehicle positioning mark points through a vehicle-mounted camera, the vehicle-mounted terminal analyzes coding information of the shot mark points after image processing, and the coding information is matched with longitude and latitude elevation information corresponding to the mark points and then fed back to the vehicle, so that positioning information of the vehicle is acquired.
The positioning technology in the tunnel realizes positioning in the vehicle tunnel, but because the vehicle positioning mark points are distributed at intervals, the vehicle-mounted camera can acquire the mark point images only under the vehicle positioning mark points, so that the vehicle can only intermittently acquire positioning information in the tunnel, and the vehicle is difficult to accurately position the vehicle in the whole process when the vehicle passes far from the position under the vehicle positioning mark points due to the acquisition of the staged positioning information.
Disclosure of Invention
Therefore, the invention provides the device and the method for positioning the vehicle in the tunnel based on the DSRC microwave short-range communication technology, which effectively solve the problem that the vehicle is difficult to accurately position in the whole process when the vehicle passes far below the vehicle positioning mark point due to the acquisition of the staged positioning information in the prior art.
In order to solve the technical problems, the invention specifically provides the following technical scheme: a vehicle positioning device in a tunnel based on a DSRC microwave short-range communication technology is provided with:
the system comprises a plurality of tunnel communication acquisition points, a plurality of data acquisition areas and a plurality of data acquisition areas, wherein the tunnel communication acquisition points are arranged on the inner wall of a tunnel, the adjacent tunnel communication acquisition points are spaced by the same distance, and vehicle position information acquisition is carried out on vehicles in the data acquisition areas at the tunnel communication acquisition points;
the adjusting type acquisition mechanism is arranged at the tunnel communication acquisition point and is used for capturing running images of a head part, a body part and a tail part of a vehicle in a data acquisition area of the tunnel communication acquisition point, the adjacent adjusting type acquisition mechanism can continuously capture the images of the vehicle in the data acquisition area of the tunnel communication acquisition point, and the adjusting type acquisition mechanism can automatically adjust angles and positions so that the data acquisition areas on the adjacent tunnel communication acquisition points can be simultaneously associated with the same vehicle;
the self-driven adjusting shaft seat is arranged at the tunnel communication acquisition point, the adjusting type acquisition mechanism is arranged on the self-driven adjusting shaft seat, and the self-driven adjusting shaft seat can drive the adjusting type acquisition mechanism to translate and rotate so that the adjusting type acquisition mechanism can carry out position adjustment and acquisition angle adjustment to adjust a data acquisition area corresponding to the adjusting type acquisition mechanism;
the DSRC positioning module is correspondingly arranged at the tunnel communication acquisition point and the tunnel portal, and is used for identifying vehicles entering the detection communication area, analyzing the real-time position of the vehicles according to the vehicle running images acquired by the adjustment type acquisition mechanism and sending the real-time position of the vehicles to the corresponding vehicles;
the data acquisition area corresponding to the adjusting type acquisition mechanism for acquiring the vehicle body part on the tunnel communication acquisition point coincides with the detection communication area, and the detection communication area corresponding to the DSRC positioning module at the tunnel entrance is associated with the data acquisition area corresponding to the adjusting type acquisition mechanism for acquiring the vehicle head part on the adjacent tunnel communication acquisition point.
Further, the adjustable acquisition mechanism comprises a head camera device, a body camera device, a tail camera device and an image processing module;
the vehicle head camera device is used for capturing an operation image of a vehicle head part in a data acquisition area of the tunnel communication acquisition point, the vehicle body camera device is used for capturing an operation image of a vehicle body part in the data acquisition area of the tunnel communication acquisition point, and the vehicle tail camera device is used for capturing an operation image of a vehicle tail part in the data acquisition area of the tunnel communication acquisition point.
Further, the image processing module is in communication connection with the head camera device, the body camera device and the tail camera device, and receives corresponding vehicle running images, and the image processing module is used for converting the vehicle running images into vehicle running digital signals and sending the vehicle running digital signals to the DSRC positioning module.
Further, the data acquisition area corresponding to the vehicle head camera device is associated with the data acquisition area corresponding to the vehicle body camera device;
the data acquisition area corresponding to the vehicle body camera device is associated with the data acquisition area corresponding to the vehicle tail camera device;
the data acquisition area corresponding to the head camera device and the data acquisition area corresponding to the tail camera device on the adjacent tunnel communication acquisition point can be simultaneously associated with the same vehicle.
Further, the self-driven adjusting shaft seat comprises a mounting seat arranged at the tunnel communication acquisition point, a mounting shaft bracket obliquely arranged on the mounting seat and a mounting shaft seat arranged on the mounting shaft bracket;
the vehicle body camera device is arranged on the mounting seat, the mounting shaft frame is arranged on the mounting shaft seat in a penetrating manner, the end part of the mounting shaft frame is fixed on the inner wall of the tunnel, a first driving motor is arranged on the mounting seat, the output end of the first driving motor is connected with a threaded connecting rod, the end part of the threaded connecting rod is provided with a rotating shaft seat, the rotating shaft seat is fixed on the inner wall of the tunnel, and the end part of the threaded connecting rod is rotatably arranged in the rotating shaft seat;
the installation shaft seat is installed on the threaded connecting rod in a threaded mode.
Further, a driving shaft and a second driving motor are arranged in the mounting shaft seat, the driving shaft is connected to the output end of the second driving motor, an adjusting seat is connected to the driving shaft, and the headstock camera device and the tailstock camera device are mounted on the adjusting seat.
Further, a limiting arc block is fixedly arranged on the outer wall of the driving shaft, a limiting gear ring is sleeved outside the limiting arc block, a driving gear is meshed with the limiting gear ring, a third driving motor is connected to the driving gear, and the driving gear is connected to the output end of the third driving motor;
the limiting gear ring is internally provided with a limiting groove, and the limiting arc block is slidably arranged in the limiting groove.
Further, the distance between the adjacent tunnel communication acquisition points is a, and the distance between the nearest tunnel communication acquisition point and the tunnel portal is b;
wherein b is less than a.
Further, the DSRC positioning module comprises a vehicle-mounted unit, a road side unit, a data processing unit and a positioning display unit;
the vehicle-mounted unit is used for storing the vehicle model number and the number, the road side unit is in communication connection with the vehicle-mounted unit and the data processing unit, and the road side unit is used for identifying the vehicle entering the detection communication area and transmitting the identified vehicle model number and the number to the data processing unit;
the data processing unit is in communication connection with the image processing module, the data processing unit is used for receiving collected vehicle running digital signals to analyze the real-time position, the vehicle length and the vehicle speed of the vehicle, the positioning display unit is arranged in the vehicle, and the data processing unit transmits the real-time position information of the vehicle to the positioning display unit of the corresponding vehicle for display according to the recognized vehicle signals and numbers.
Further, the positioning method of the vehicle positioning device in the tunnel based on the DSRC microwave short-range communication technology comprises the following steps,
step 100, identifying a vehicle entering a tunnel portal, and capturing running images of a head part, a body part and a tail part of the vehicle entering a data acquisition area;
200, analyzing the real-time position of the vehicle according to the vehicle running image, and sending the real-time position of the vehicle to the corresponding vehicle;
step 300, obtaining the length and the speed of the vehicle according to the analysis of the running image of the vehicle, and predicting the disengaging time point of the data acquisition area which is disengaged from the current tunnel communication acquisition point according to the length and the speed of the vehicle;
step 400, calculating the position of the head of the vehicle at the departure time point, and adjusting the position and angle of a head camera device of the next tunnel communication acquisition point according to the position of the head of the vehicle so that the data acquisition area of the head camera device comprises the position of the head of the vehicle at the departure time point;
and 500, adjusting the rotation angle limiting range of the head camera according to the adjustment position of the head camera so as to enable the data acquisition area corresponding to the head camera to be associated with the data acquisition area corresponding to the vehicle body camera.
In order to solve the technical problems, the invention further provides the following technical scheme:
compared with the prior art, the invention has the following beneficial effects:
according to the invention, the tunnel communication acquisition points are arranged at the inner partition of the tunnel, the adjusting type acquisition mechanism is arranged at the tunnel communication acquisition points to capture the running images of the head part, the body part and the tail part of the vehicle in the data acquisition area, and the adjusting type acquisition mechanism can automatically adjust the angle and the position so that the data acquisition areas on the adjacent tunnel communication acquisition points can be simultaneously associated with the same vehicle, and the adjacent adjusting type acquisition mechanism can continuously capture the vehicle images in the data acquisition areas of the tunnel communication acquisition points, so that the vehicle can continuously acquire positioning information in the driving process of the tunnel, and the continuous and accurate positioning of the whole process in the tunnel of the vehicle is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
Fig. 1 is a schematic structural diagram of a vehicle positioning device in a tunnel based on DSRC microwave short-range communication technology according to an embodiment of the present invention;
FIG. 2 is a block diagram of a vehicle positioning device in a tunnel based on DSRC microwave short-range communication technology according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an adjustable collection mechanism and a self-driven adjustment shaft seat according to an embodiment of the present invention;
FIG. 4 is a schematic view showing the internal structure of the connection of the driving shaft according to the embodiment of the present invention;
fig. 5 is a schematic cross-sectional structure of a drive shaft connecting shaft in an embodiment of the invention.
Reference numerals in the drawings are respectively as follows:
1-a tunnel communication acquisition point; 2-an adjustable collection mechanism; 3-self-driving adjusting shaft seat; 4-tunneling; 5-a data acquisition area; 6-detecting a communication area;
21-a headstock camera device; 22-a body imaging device; 23-a tail camera device;
31-a mounting base; 32-mounting a shaft bracket; 33-mounting a shaft seat; 34-a first drive motor; 35-a threaded connecting rod; 36-rotating shaft seat; 37-drive shaft; 38-a second drive motor; 39-adjusting seats; 310-limiting arc blocks; 311-limiting gear ring; 312-a drive gear; 313-a third drive motor; 314-limit groove.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 and 2, the invention provides an in-tunnel vehicle positioning device and method based on a DSRC microwave short-range communication technology, wherein the device is provided with a tunnel communication acquisition point 1, an adjusting acquisition mechanism 2, a self-driven adjusting shaft seat 3 and a DSRC positioning module.
The tunnel communication acquisition points 1 are arranged on the inner wall of the tunnel 4, the tunnel communication acquisition points 1 are arranged in a plurality, the adjacent tunnel communication acquisition points 1 are spaced by the same distance, and vehicle position information acquisition is carried out on vehicles in the data acquisition area 5 at the tunnel communication acquisition points 1.
The adjustable acquisition mechanism 2 is arranged at the tunnel communication acquisition point 1, the adjustable acquisition mechanism 2 is used for capturing running images of a head part, a body part and a tail part of a vehicle in a data acquisition area 5 of the tunnel communication acquisition point 1, the adjacent adjustable acquisition mechanism 2 can continuously capture the images of the vehicle in the data acquisition area 5 of the tunnel communication acquisition point 1, and the adjustable acquisition mechanism 2 can automatically adjust angles and positions so that the data acquisition areas on the adjacent tunnel communication acquisition points 1 can be simultaneously associated with the same vehicle.
The self-driving adjusting shaft seat 3 is arranged at the tunnel communication acquisition point 1, the adjusting type acquisition mechanism 2 is arranged on the self-driving adjusting shaft seat 3, and the self-driving adjusting shaft seat 3 can drive the adjusting type acquisition mechanism 2 to translate and rotate so that the adjusting type acquisition mechanism 2 can carry out position adjustment and acquisition angle adjustment to adjust a data acquisition area 5 corresponding to the adjusting type acquisition mechanism 2.
The DSRC positioning module is correspondingly arranged at the tunnel communication acquisition point 1 and the tunnel portal, and is used for identifying vehicles entering the detection communication area 6, analyzing the real-time positions of the vehicles according to the vehicle running images acquired by the adjustment type acquisition mechanism 2 and sending the real-time positions of the vehicles to the corresponding vehicles.
In the above embodiment, the tunnel communication acquisition point 1 is set at the inner partition of the tunnel, the adjusting type acquisition mechanism 2 is set at the tunnel communication acquisition point 1 to capture the running images of the head part, the body part and the tail part of the vehicle in the data acquisition area 5, the adjusting type acquisition mechanism 2 can automatically adjust the angle and the position, so that the data acquisition areas 5 on the adjacent tunnel communication acquisition points 1 can be simultaneously associated with the same vehicle, the adjacent adjusting type acquisition mechanism 2 can continuously capture the vehicle images in the data acquisition areas of the tunnel communication acquisition points 1, so that the vehicle can continuously acquire positioning information during running in the tunnel 4, and the whole process of the vehicle in the tunnel 4 is continuously and accurately positioned.
The invention captures operation images of a head part, a body part and a tail part of a vehicle in a data acquisition area 5 of a tunnel communication acquisition point 1 through an adjustable acquisition mechanism 2, and the adjustable acquisition mechanism 2 mainly adopts the following preferred embodiment, as shown in fig. 2 and 3, wherein the adjustable acquisition mechanism 2 comprises a head camera 21, a body camera 22, a tail camera 23 and an image processing module.
Wherein, locomotive camera device 21 is used for catching the operation image of locomotive position in the data acquisition area 5 of tunnel communication acquisition point 1, and automobile body camera device 22 is used for catching the operation image of automobile body position in the data acquisition area 5 of tunnel communication acquisition point 1, and automobile tail camera device 23 is used for catching the operation image of automobile tail position in the data acquisition area 5 of tunnel communication acquisition point 1.
In the above embodiment, the head camera 21 is used for capturing the running image of the head part in the data acquisition area 5 of the tunnel communication acquisition point 1, the action of capturing the running image of the head part is performed when the vehicle just starts to enter the data acquisition area 5 of the tunnel communication acquisition point 1, and when the vehicle completely enters the data acquisition area 5 of the tunnel communication acquisition point 1, the head camera 21 also performs running image acquisition on the vehicle body and the vehicle tail, mainly for capturing the action of just entering the data acquisition area 5 of the tunnel communication acquisition point.
Similarly, the vehicle body imaging device 22 captures an operation image of the vehicle body part in the data acquisition region 5 of the tunnel communication acquisition point 1, and captures an operation image of the vehicle head and the vehicle tail, but captures an operation image of the vehicle entering the data acquisition region 5.
The rear camera device 23 captures an operation image of the rear of the vehicle head and the vehicle body, but mainly captures an action of the vehicle departing from the current data acquisition area 5, which also indicates that the vehicle is driving away from the data acquisition area 5.
Therefore, the head camera 21, the body camera 22 and the tail camera 23 are all used for collecting the running image of the whole vehicle, the head camera 21 is used for capturing the movement of the head of the vehicle into the current data collecting area 5 to judge that the vehicle drives into the current data collecting area 5, and the tail camera 23 is used for capturing the movement of the tail of the vehicle out of the current data collecting area 5 to judge that the vehicle drives out of the current data collecting area 5.
In order to process the collected vehicle running images, the invention is provided with an image processing module which is in communication connection with the vehicle head camera device 21, the vehicle body camera device 22 and the vehicle tail camera device 23 and receives the corresponding vehicle running images, and the image processing module is used for converting the vehicle running images into vehicle running digital signals and sending the vehicle running digital signals to the DSRC positioning module.
In order to acquire the real-time position of the vehicle in time after the vehicle is identified, the invention designs that a data acquisition area 5 corresponding to an adjusting acquisition mechanism 2 (a vehicle body image pickup device 22) for acquiring the vehicle body part on a tunnel communication acquisition point 1 coincides with a detection communication area 6, the vehicle entering the current data acquisition area 5 is identified in time, and the corresponding vehicle is matched so as to send positioning information to the corresponding vehicle.
In addition, the data acquisition area 5 corresponding to the adjusting type acquisition mechanism 2 (the head imaging device 21) for acquiring the head part on the tunnel communication acquisition point 1 can be overlapped with the detection communication area 6, so that the corresponding vehicle can be identified at the moment when the vehicle enters the data acquisition area 5 of the tunnel communication acquisition point 1.
The above design has a dead zone for identifying the vehicle, that is, the vehicle cannot be identified in a portion far from the detection communication area 6, but in the case of sequential driving of the vehicle, the positioning information of the vehicle can be matched and transmitted to the corresponding vehicle, and overtaking is not allowed in the tunnel 4, so that sequential driving of the vehicle can be basically ensured.
Aiming at the condition that part of illegal vehicles overtake in a tunnel, the vehicles overtake after passing through the data acquisition areas 5 corresponding to the head camera device 21 or the body camera device 22, the positioning information of the current vehicles can be matched and sent to overtaking vehicles, but can be corrected immediately after entering the data acquisition areas 5 corresponding to the next head camera device 21 or the body camera device 22.
In order to shorten the time occupied by the situation that the positioning information missends the positioning information in the above situation and in order to enable the vehicle to continuously receive the positioning information, the vehicle needs to enter the data acquisition area 5 of the next tunnel communication acquisition point 1 when driving away from the data acquisition area 5 of the previous tunnel communication acquisition point 1, therefore, the invention designs that the detection communication area 6 corresponding to the DSRC positioning module at the entrance of the tunnel is associated with the data acquisition area 5 corresponding to the adjusting type acquisition mechanism 2 for acquiring the head part on the adjacent tunnel communication acquisition point 1, and in addition, the data acquisition area 5 corresponding to the head image pickup device 21 and the data acquisition area 5 corresponding to the tail image pickup device 23 on the adjacent tunnel communication acquisition point 1 can be simultaneously associated with the same vehicle.
In the above embodiment, in order to enable the detection communication area 6 corresponding to the DSRC positioning module at the tunnel entrance to be associated with the data acquisition area 5 corresponding to the adjustable acquisition mechanism 2 for acquiring the head part on the adjacent tunnel communication acquisition point 1, the present invention is designed in such a way that the distance between the adjacent tunnel communication acquisition point 1 is a, and the distance between the tunnel communication acquisition point 1 closest to the tunnel entrance is b, where b is smaller than a.
In order to continuously collect the positioning information of the vehicle in the tunnel communication collecting point 1, the invention also designs that the data collecting area 5 corresponding to the vehicle head camera device 21 is associated with the data collecting area 5 corresponding to the vehicle body camera device 22, and the data collecting area 5 corresponding to the vehicle body camera device 22 is associated with the data collecting area 5 corresponding to the vehicle tail camera device 23.
The self-driving adjusting shaft seat 3 drives the adjusting type acquisition mechanism 2 to translate and rotate through the self-driving adjusting shaft seat 3 so that the adjusting type acquisition mechanism 2 can carry out position adjustment and acquisition angle adjustment to adjust a data acquisition area 5 corresponding to the adjusting type acquisition mechanism 2, and the self-driving adjusting shaft seat 3 adopts the following preferred embodiment, as shown in fig. 3, the self-driving adjusting shaft seat 3 comprises a mounting seat 31 arranged at a tunnel communication acquisition point 1, a mounting shaft bracket 32 obliquely arranged on the mounting seat 31 and a mounting shaft seat 33 arranged on the mounting shaft bracket 32.
The vehicle body camera device 22 is mounted on a mounting seat 31, a mounting shaft bracket 32 is arranged on a mounting shaft seat 33 in a penetrating manner, the end part of the mounting shaft bracket 32 is fixed on the inner wall of the tunnel 4, a first driving motor 34 is arranged on the mounting seat 31, the output end of the first driving motor 34 is connected with a threaded connecting rod 35, the end part of the threaded connecting rod 35 is provided with a rotating shaft seat 36, the rotating shaft seat 36 is fixed on the inner wall of the tunnel 4, and the end part of the threaded connecting rod 35 is rotatably arranged in the rotating shaft seat 36; the mounting shaft seat 33 is threadedly mounted on a threaded connecting rod 35.
The structure can drive the headstock camera device 21 and the tailstock camera device 23 to carry out position adjustment, and drive the first driving motor 34 to drive the threaded connecting rod 35 to rotate, and drive the installation shaft seat 33 to translate on the installation shaft frame 32 under the rotation action of the threaded connecting rod 35.
In order to drive the head camera device 21 and the tail camera device 23 to perform angle adjustment, as shown in fig. 4 and 5, a driving shaft 37 and a second driving motor 38 are arranged in the mounting shaft seat 33, the driving shaft 37 is connected to the output end of the second driving motor 38, an adjusting seat 39 is connected to the driving shaft 37, and the head camera device 21 and the tail camera device 23 are mounted on the adjusting seat 39.
The second driving motor 38 drives the driving shaft 37 to rotate, and the driving shaft 37 rotates to drive the adjusting seat 39 to rotate, so that the headstock camera 21 and the tailstock camera 23 are driven to rotate, and the angle adjustment is completed.
Because the situation that the data acquisition area 5 of the head camera device 21 is far away from the data acquisition area 5 of the body camera device 22 in the position adjustment and angle adjustment process is avoided, so that a positioning blind area on the same tunnel communication acquisition point 1 is caused is avoided, the invention adopts the following design that as shown in fig. 4 and 5, a limiting arc block 310 is fixedly arranged on the outer wall of a driving shaft 37, a limiting gear ring 311 is sleeved outside the limiting arc block 310, a driving gear 312 is meshed outside the limiting gear ring 311, a third driving motor 313 is connected on the driving gear 312, and the driving gear 312 is connected to the output end of the third driving motor 313; a limiting groove 314 is arranged in the limiting gear ring 311, and the limiting arc block 310 is slidably arranged in the limiting groove 314.
In the above embodiment, the limiting groove 314 limits the limiting arc block 310, that is, limits the rotation of the driving shaft 37 and the angle adjustment of the head camera device 21, and the third driving motor 313 drives the driving gear 312 to rotate so as to drive the limiting gear ring 311 to rotate, so that the limiting range of the limiting arc block 310 is changed, and the range of the subsequent angle adjustment is changed in the process of adjusting the position of the head camera device 21, so that the range of limiting the angle adjustment of the head camera device 21 needs to be adjusted by the above action in the process of adjusting the position.
The DSRC positioning module of the invention recognizes the vehicle entering the detection communication area 6, analyzes the real-time position of the vehicle according to the vehicle running image acquired by the adjusting acquisition mechanism 2, and transmits the real-time position of the vehicle to the corresponding vehicle, and adopts the following preferred embodiment, as shown in fig. 2, the DSRC positioning module comprises a vehicle-mounted unit, a road side unit, a data processing unit and a positioning display unit.
The vehicle-mounted unit is used for storing the vehicle model number and the number, the road side unit is in communication connection with the vehicle-mounted unit and the data processing unit, and the road side unit is used for identifying the vehicle entering the detection communication area and transmitting the identified vehicle model number and the number to the data processing unit.
The data processing unit is in communication connection with the image processing module, and is used for receiving the collected vehicle running digital signals to analyze the real-time position, the vehicle length and the vehicle speed of the vehicle, the positioning display unit is arranged in the vehicle, and the data processing unit transmits the real-time position information of the vehicle to the positioning display unit of the corresponding vehicle for display according to the recognized vehicle signals and numbers.
In summary, the method for positioning the vehicle positioning device in the tunnel based on the DSRC microwave short-range communication technology provided by the invention comprises the following steps,
step 100, identifying a vehicle entering a tunnel portal, and capturing running images of a head part, a body part and a tail part of the vehicle entering the data acquisition area 5;
200, analyzing the real-time position of the vehicle according to the vehicle running image, and sending the real-time position of the vehicle to the corresponding vehicle;
step 300, obtaining the length and the speed of the vehicle according to the analysis of the running image of the vehicle, and predicting the disengaging time point of the data acquisition area 5 which is disengaged from the current tunnel communication acquisition point 1 according to the length and the speed of the vehicle;
step 400, calculating the position of the vehicle head at the departure time point, and adjusting the position and angle of the head camera 21 of the next tunnel communication acquisition point 1 according to the position of the vehicle head so that the data acquisition area 5 of the head camera 21 comprises the position of the vehicle head at the departure time point;
and 500, adjusting the rotation angle limiting range of the head camera according to the adjustment position of the head camera so as to enable the data acquisition area corresponding to the head camera to be associated with the data acquisition area corresponding to the vehicle body camera.
Step 300 and step 400 are adjustment control processes for the data acquisition area 5 of the head camera device 21, specifically: the length and the speed of the vehicle can be calculated according to the running image of the vehicle, the disengaging time point of the data acquisition area 5 which is separated from the current tunnel communication acquisition point 1 can be calculated according to the length and the speed of the vehicle, the position of the head of the vehicle at the disengaging time point can be calculated, the position and the angle of the head camera 21 of the next tunnel communication acquisition point 1 can be adjusted according to the position of the head of the vehicle, so that the data acquisition area 5 of the head camera 21 comprises the position of the head of the vehicle at the disengaging time point, that is, the adjusted data acquisition area 5 of the head camera 21 can acquire the running image of the head of the vehicle at the disengaging time point.
The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application, the scope of which is defined by the claims. Various modifications and equivalent arrangements may be made to the present application by those skilled in the art, which modifications and equivalents are also considered to be within the scope of the present application.
Claims (10)
1. An in-tunnel vehicle positioning device based on DSRC microwave short-range communication technology, comprising:
the system comprises tunnel communication acquisition points (1) which are arranged on the inner wall of a tunnel (4), wherein a plurality of tunnel communication acquisition points (1) are arranged, the adjacent tunnel communication acquisition points (1) are spaced by the same distance, and vehicle position information acquisition is carried out on vehicles in a data acquisition area (5) at the tunnel communication acquisition points (1);
the system comprises an adjusting type acquisition mechanism (2) and a control mechanism, wherein the adjusting type acquisition mechanism (2) is arranged at a tunnel communication acquisition point (1), the adjusting type acquisition mechanism (2) is used for capturing running images of a head part, a body part and a tail part of a vehicle in a data acquisition area (5) of the tunnel communication acquisition point (1), the adjacent adjusting type acquisition mechanism (2) can continuously capture the images of the vehicle in the data acquisition area (5) of the tunnel communication acquisition point (1), and the adjusting type acquisition mechanism (2) can automatically adjust angles and positions so that the data acquisition areas on the adjacent tunnel communication acquisition points (1) can be simultaneously associated with the same vehicle;
the self-driving adjusting shaft seat (3) is arranged at the tunnel communication acquisition point (1), the adjusting type acquisition mechanism (2) is arranged on the self-driving adjusting shaft seat (3), and the self-driving adjusting shaft seat (3) can drive the adjusting type acquisition mechanism (2) to translate and rotate so that the adjusting type acquisition mechanism (2) can perform position adjustment and acquisition angle adjustment to adjust a data acquisition area (5) corresponding to the adjusting type acquisition mechanism (2);
the DSRC positioning module is correspondingly arranged at the tunnel communication acquisition point (1) and the tunnel portal, and is used for identifying vehicles entering the detection communication area (6), analyzing the real-time position of the vehicles according to the vehicle running images acquired by the adjustment acquisition mechanism (2) and transmitting the real-time position of the vehicles to the corresponding vehicles;
the data acquisition area (5) corresponding to the adjusting type acquisition mechanism (2) for acquiring the vehicle body part, which is positioned on the tunnel communication acquisition point (1), coincides with the detection communication area (6), and the detection communication area (6) corresponding to the DSRC positioning module, which is positioned at the tunnel entrance, is associated with the data acquisition area (5) corresponding to the adjusting type acquisition mechanism (2) for acquiring the vehicle head part, which is positioned on the adjacent tunnel communication acquisition point (1).
2. The in-tunnel vehicle positioning device based on the DSRC microwave short-range communication technology according to claim 1, wherein the adjustable acquisition mechanism (2) comprises a head camera (21), a body camera (22), a tail camera (23) and an image processing module;
the vehicle head camera device (21) is used for capturing an operation image of a vehicle head part in a data acquisition area (5) of the tunnel communication acquisition point (1), the vehicle body camera device (22) is used for capturing an operation image of a vehicle body part in the data acquisition area (5) of the tunnel communication acquisition point (1), and the vehicle tail camera device (23) is used for capturing an operation image of a vehicle tail part in the data acquisition area (5) of the tunnel communication acquisition point (1).
3. The in-tunnel vehicle positioning device based on the DSRC microwave short-range communication technology according to claim 2, wherein the image processing module is communicatively connected to the head camera (21), the body camera (22), and the tail camera (23), and receives corresponding vehicle running images, and the image processing module is configured to convert the vehicle running images into vehicle running digital signals and send the vehicle running digital signals to the DSRC positioning module.
4. The in-tunnel vehicle positioning device based on DSRC microwave short-range communication technology according to claim 3, characterized in that the data acquisition area (5) corresponding to the head camera device (21) is associated with the data acquisition area (5) corresponding to the body camera device (22);
the data acquisition area (5) corresponding to the vehicle body image pickup device (22) is associated with the data acquisition area (5) corresponding to the vehicle tail image pickup device (23);
the data acquisition areas (5) corresponding to the head camera devices (21) and the data acquisition areas (5) corresponding to the tail camera devices (23) on the adjacent tunnel communication acquisition points (1) can be simultaneously associated with the same vehicle.
5. The in-tunnel vehicle positioning device based on DSRC microwave short-range communication technology according to claim 4, wherein the self-driven adjusting axle seat (3) comprises an installation base (31) provided at the tunnel communication acquisition point (1), an installation axle frame (32) obliquely provided on the installation base (31), and an installation axle seat (33) provided on the installation axle frame (32);
the vehicle body camera device (22) is installed on the installation seat (31), the installation shaft frame (32) is arranged on the installation shaft seat (33) in a penetrating mode, the end portion of the installation shaft frame (32) is fixed on the inner wall of the tunnel (4), a first driving motor (34) is arranged on the installation seat (31), the output end of the first driving motor (34) is connected with a threaded connecting rod (35), the end portion of the threaded connecting rod (35) is provided with a rotating shaft seat (36), the rotating shaft seat (36) is fixed on the inner wall of the tunnel (4), and the end portion of the threaded connecting rod (35) is rotatably arranged in the rotating shaft seat (36);
the installation shaft seat (33) is installed on the threaded connecting rod (35) in a threaded mode.
6. The vehicle positioning device in a tunnel based on the DSRC microwave short-range communication technology according to claim 5, wherein a driving shaft (37) and a second driving motor (38) are arranged in the mounting shaft seat (33), the driving shaft (37) is connected to the output end of the second driving motor (38), the driving shaft (37) is connected with an adjusting seat (39), and the head camera device (21) and the tail camera device (23) are mounted on the adjusting seat (39).
7. The vehicle positioning device in a tunnel based on the DSRC microwave short-range communication technology according to claim 6, wherein a limiting arc block (310) is fixedly arranged on the outer wall of the driving shaft (37), a limiting gear ring (311) is sleeved outside the limiting arc block (310), a driving gear (312) is meshed outside the limiting gear ring (311), a third driving motor (313) is connected to the driving gear (312), and the driving gear (312) is connected to the output end of the third driving motor (313);
limiting grooves (314) are formed in the limiting gear rings (311), and the limiting arc blocks (310) are slidably arranged in the limiting grooves (314).
8. The in-tunnel vehicle positioning device based on the DSRC microwave short-range communication technology according to claim 7, wherein a distance between adjacent tunnel communication acquisition points (1) is a, and a distance between the tunnel communication acquisition point (1) closest to a tunnel portal and the tunnel portal is b;
wherein b is less than a.
9. The in-tunnel vehicle locating apparatus based on DSRC microwave short-range communication technology of claim 8, wherein the DSRC locating module comprises an on-board unit, a roadside unit, a data processing unit, and a location display unit;
the vehicle-mounted unit is used for storing the vehicle model number and the number, the road side unit is in communication connection with the vehicle-mounted unit and the data processing unit, and the road side unit is used for identifying the vehicle entering the detection communication area and transmitting the identified vehicle model number and the number to the data processing unit;
the data processing unit is in communication connection with the image processing module, the data processing unit is used for receiving collected vehicle running digital signals to analyze the real-time position, the vehicle length and the vehicle speed of the vehicle, the positioning display unit is arranged in the vehicle, and the data processing unit transmits the real-time position information of the vehicle to the positioning display unit of the corresponding vehicle for display according to the recognized vehicle signals and numbers.
10. The method for locating a vehicle locating device in a tunnel based on DSRC microwave short-range communication technology according to any one of claims 1 to 9, comprising the steps of,
step 100, identifying a vehicle entering a tunnel portal, and capturing running images of a head part, a body part and a tail part of the vehicle entering a data acquisition area;
200, analyzing the real-time position of the vehicle according to the vehicle running image, and sending the real-time position of the vehicle to the corresponding vehicle;
step 300, obtaining the length and the speed of the vehicle according to the analysis of the running image of the vehicle, and predicting the disengaging time point of the data acquisition area which is disengaged from the current tunnel communication acquisition point according to the length and the speed of the vehicle;
step 400, calculating the position of the head of the vehicle at the departure time point, and adjusting the position and angle of a head camera device of the next tunnel communication acquisition point according to the position of the head of the vehicle so that the data acquisition area of the head camera device comprises the position of the head of the vehicle at the departure time point;
and 500, adjusting the rotation angle limiting range of the head camera device according to the adjustment position of the head camera device so as to enable the data acquisition area corresponding to the head camera device to be associated with the data acquisition area corresponding to the vehicle body camera device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211383770.XA CN115749956B (en) | 2022-11-07 | 2022-11-07 | Device and method for positioning vehicle in tunnel based on DSRC microwave short-range communication technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211383770.XA CN115749956B (en) | 2022-11-07 | 2022-11-07 | Device and method for positioning vehicle in tunnel based on DSRC microwave short-range communication technology |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115749956A CN115749956A (en) | 2023-03-07 |
| CN115749956B true CN115749956B (en) | 2024-02-23 |
Family
ID=85356862
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211383770.XA Active CN115749956B (en) | 2022-11-07 | 2022-11-07 | Device and method for positioning vehicle in tunnel based on DSRC microwave short-range communication technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115749956B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106249268A (en) * | 2016-08-24 | 2016-12-21 | 南昌大学 | The Exact Location Method of running automobile in a kind of tunnel |
| CN208014168U (en) * | 2018-04-16 | 2018-10-26 | 四川京炜交通工程技术有限公司 | A kind of Vehicle Orientation, Monitoring & Control System in vcehicular tunnel |
| CN111065043A (en) * | 2019-10-25 | 2020-04-24 | 重庆邮电大学 | System and method for fusion positioning of vehicles in tunnel based on vehicle-road communication |
| CN113112817A (en) * | 2021-04-13 | 2021-07-13 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Tunnel vehicle positioning and early warning system and method based on Internet of vehicles and following behaviors |
| CN113395663A (en) * | 2021-07-19 | 2021-09-14 | 交通运输部公路科学研究所 | Tunnel vehicle positioning method based on vehicle-road cooperation |
| KR20210135753A (en) * | 2020-05-06 | 2021-11-16 | 주식회사 케이티 | Method and apparatus for location estimation of lidar-based vehicles |
-
2022
- 2022-11-07 CN CN202211383770.XA patent/CN115749956B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106249268A (en) * | 2016-08-24 | 2016-12-21 | 南昌大学 | The Exact Location Method of running automobile in a kind of tunnel |
| CN208014168U (en) * | 2018-04-16 | 2018-10-26 | 四川京炜交通工程技术有限公司 | A kind of Vehicle Orientation, Monitoring & Control System in vcehicular tunnel |
| CN111065043A (en) * | 2019-10-25 | 2020-04-24 | 重庆邮电大学 | System and method for fusion positioning of vehicles in tunnel based on vehicle-road communication |
| KR20210135753A (en) * | 2020-05-06 | 2021-11-16 | 주식회사 케이티 | Method and apparatus for location estimation of lidar-based vehicles |
| CN113112817A (en) * | 2021-04-13 | 2021-07-13 | 天津职业技术师范大学(中国职业培训指导教师进修中心) | Tunnel vehicle positioning and early warning system and method based on Internet of vehicles and following behaviors |
| CN113395663A (en) * | 2021-07-19 | 2021-09-14 | 交通运输部公路科学研究所 | Tunnel vehicle positioning method based on vehicle-road cooperation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115749956A (en) | 2023-03-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109949594B (en) | Real-time traffic light identification method | |
| US10139225B2 (en) | Method of obtaining geographically related images using a vehicle | |
| CN102542806B (en) | Real-time monitoring system for license plate shielding of vehicles running on speedway and control method thereof | |
| KR101810964B1 (en) | Drone for safe and secure law enforcement on the street and Method for controlling the same | |
| CN108399794B (en) | Tunnel driving safety early warning system and method based on vehicle driving state detection | |
| CN109975035A (en) | A kind of L3 grades of autonomous driving vehicle vehicle grade is in ring test platform system | |
| CN101484346A (en) | System and method of navigation with captured images | |
| CN102129775A (en) | Method and system for obtaining evidence by capturing vehicles at traffic crossing under panoramic video detection | |
| CN109387218B (en) | Vehicle-mounted equipment and road maintenance auxiliary management system | |
| WO2018032295A1 (en) | Accident scene reconstruction method and device, and moving monitoring apparatus | |
| CN103674963A (en) | Tunnel detection device based on digital panoramic photography and detection method thereof | |
| CN113627213B (en) | Method, device and system for monitoring abnormal behavior of vehicle | |
| CN115749956B (en) | Device and method for positioning vehicle in tunnel based on DSRC microwave short-range communication technology | |
| CN109874099B (en) | Networking vehicle-mounted equipment flow control system | |
| CN115871660B (en) | Unmanned road roller obstacle avoidance method and system with bimodal feature fusion | |
| CN115824231B (en) | Intelligent positioning management system for automobile running | |
| CN112298211A (en) | Automatic pedestrian yielding driving scheme based on 5G grading decision | |
| CN115909787A (en) | Early warning method, equipment and medium for pavement damage condition | |
| CN218172418U (en) | Roadblock recognition device based on image instance segmentation technology | |
| CN210953850U (en) | Video detection device for amusement facility track detection | |
| CN203116856U (en) | System of lens automatically zooming along with vehicle speed | |
| CN210155741U (en) | Vehicle information management system for unmanned vehicle | |
| CN110775054B (en) | Vehicle-mounted control device, field end positioning device, vehicle control system and vehicle | |
| CN110794821B (en) | Vehicle-mounted control device, field end positioning device, vehicle control system and vehicle | |
| JP5121784B2 (en) | Safe driving support device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |